博士，讲师

邮件：chqgao@stu.edu.cn

主要研究方向：

主要研究方向包括机器人技术与系统、机器人机构学、大尺度航天可展开机构、爬行机器人、抓取机械手、抓取控制规划、机器人运动学与动力学。

教育工作经历：

2023.10~至今 汕头大学

Ø 所在机构：汕头大学，工学院，机械工程系

Ø 岗 位：讲师(十级）

Ø 研究方向：大尺度宇航空间机构设计与在轨控制方法研究

2018.09~2023.07 博士学位

Ø 所在机构：哈尔滨工业大学(深圳)，机电工程与自动化学院，机械工程专业

Ø 导 师：李兵教授

Ø 研究方向：空间桁架式可展开变胞抓取机械手设计与控制方法研究

主要学术活动：

Ø 参与国际期刊审稿

Mechanism and machine theory; ASME transactions on journal of mechanical design; ASME transactions on journal of mechanisms and robotics; IEEE access; Robotica; Science China technological sciences.

Ø 参加国际会议并作报告

IEEE international conference on cyborg and bionic systems (CBS2022): 24/03/2023 - 26/03/2023, Wuhan, Hubei, China.

The 14th international conference on intelligent robotics and applications (ICIRA2021): 22/10/2021 - 25/10/2021, Yantai, Shandong, China.

The IEEE international conference on real-time computing and robotics (RCAR2020): 28/09/2020 - 29/09/2020, Asahikawa, Hokkaido, Japan.

The IEEE international conference on robotics and biomimetics (ROBIO2019): 06/12/2019 - 08/12/2019, Dali, Yunnan, China.

主要研究经历：

Ø 11/01/2023-至今 汕头大学-工学院-机械工程系

汕头大学科研启动项目“面向空间非合作目标的大尺度可展开抓取机构理论设计与在轨操控方法研究”，经费50万，主持

Ø 09/2018-07/2023 哈尔滨工业大学(深圳)

作为核心成员参与研究国家自然科学基金联合基金重点支持项目“空间大尺度可变构型智能结构体理论设计与控制方法研究”，U1613201，2017-01~2020-12，经费339万，参与

主要工作：设计空间可展开抓取机械手；机械手的运动学与控制学；机械手的抓取规划方法；机械手的在轨控制方法，机械手的样机制作与抓取试验

作为核心成员参与研究国家自然科学基金面上项目“基于变刚度柔性关节的刚柔耦合可收展机械臂构型设计与控制方法研究”，52075113，2021-01~2024-12，经费60万元，参与

主要工作：设计变刚度柔性关节；多自由度机械臂设计；机械臂的规划方法；机械臂阻抗控制方法，变刚度机械臂的样机制作与试验

研究成果

论文成果

Ø Changqing Gao, Yang Zhang, Xi Kang, Peng Xu, Bing Li. Dynamic analysis of a three-fingered deployable metamorphic robotic grasper. Mechanism and machine theory, 2023, 180, 105140. (JCR: Q1, CAS: Q1, SCI, IF = 5.20, Top)

Ø Changqing Gao, Xi Kang, Hong Lei, Peng Xu, Bing Li. Design and analysis of a novel large-scale two-fold deployable mechanism. Mechanism and machine theory, 2023, 186, 105352. (JCR: Q1, CAS: Q1, SCI, IF = 5.20, Top)

Ø Changqing Gao, Hailin Huang, Bing Li, Guanglu Jia. Design of the truss-shaped deployable grasping mechanism using mobility bifurcation. Mechanism and machine theory, 2019, 139(4): 182-204. (JCR: Q1, CAS: Q1, SCI, IF = 5.20, Top)

Ø Changqing Gao, Hailin Huang, Yao Li, Bing Li. Design and analysis of a novel three-fingered deployable metamorphic robotic grasper. Journal of mechanical design - transactions on ASME, 2022, 144(8): 083302. (JCR: Q2, CAS: Q3, SCI, IF = 3.30)

Ø Changqing Gao, Jiahao Wang, Xiaojun Yang, Bing Li. Design and analysis of a novel truss-shaped variable-stiffness deployable robotic grasper. IEEE Access, 2020, 8: 112944-112956. (JCR: Q2, CAS: Q3, SCI, IF = 3.90)

Ø Changqing Gao, Xi Kang, Hong Lei, Peng Xu, Bing Li. Design of a novel multi-configurations deployable aerospace mechanism using mobility bifurcation. Journal of mechanisms and robotics - transactions on ASME. Under review. (JCR: Q2, CAS: Q3, SCI, IF = 2.60)

Ø Changqing Gao, Yang Zhang, Peng Xu, Xi Kang, and Bing Li. Envelope grasping planning of a three-fingered deployable metamorphic robotic grasper. Proceedings of the IEEE international conference on cyborg and bionic systems (CBS 2022), March 24-26, 2023, pp: 80-85, Wuhan, Hubei, China. (EI)

Ø Changqing Gao, Bing Li, Chonglei Hao, Fujun Peng, and Aiguo Wu. Kinematic and dynamic analysis of a novel 5-DOF multi-fingered deployable robotic gripper. Proceedings of the 14th international conference on intelligent robotics and applications (ICIRA 2021), October 22-25, 2021, pp: 415-424, Yantai, Shandong, China. (EI)

Ø Changqing Gao, Hailin Huang, Gang Yang, Bing Li, and Ke Huang. Design and analysis of a novel 3-DOF deployable grasping mechanism. Proceedings of the IEEE international conference on real-time computing and robotics (RCAR 2020), September 28-29, 2020, pp: 199-203, Asahikawa, Hokkaido, Japan. (EI)

Ø Changqing Gao, Hailin Huang, and Bing Li. Design and analysis of a novel deployable robotic grasper. Proceedings of the IEEE international conference on robotics and biomimetics (ROBIO 2019), December 06-08, 2019, pp: 481-486, Dali, Yunnan, China. (EI)

Ø Changqing Gao, Yuanfeng Huang, Jixue Mo, Fei Liu, Yongjie Zhao. Adaptive impedance control of a three-fingered deployable metamorphic robotic grasper, Proceedings of the 6th IEEE-IFToMM international conference on reconfigurable mechansims and robots (ReMar 2024): June 23-26, 2024, Accepted, Chicago, USA. (EI)

Ø Fei Liu, JiaLiang Chen, Jixue Mo, Changqing Gao#, Zhendong Song. Manipulator hugging motion control based on optimal human tactile force. International Journal of Social Robotics, Under review. (JCR: Q2, CAS: Q3, SCI, IF = 4.70)

Ø Jixue Mo, Changqing Gao#. Study on the pressurization of liquid nitrogen in a robotic water jet thruster. Proceedings of the IEEE International Conference on Control, Electronics and Computer Technology (ICCECT 2023). April 28-30, 2023, pp: 361-367, Changchun, Jilin, China. (EI, Corresponding author)

Ø Yang Zhang, Changqing Gao, Peng Xu, Bing Li. Type synthesis of deployable and symmetrical single-loop mechanisms for constructing aerospace platforms. Mechanism and machine theory, 2023, 181, 105212. (JCR: Q1, CAS: Q1, SCI, IF = 5.20, Top)

Ø Yang Zhang, Changqing Gao, Hailin Huang, and Bing Li. Synthesis of one DOF single-loop mechanism with prismatic pairs based on the atlas method. Proceedings of the 15th international conference on intelligent robotics and applications (ICIRA 2022), August 1-4, 2022, pp: 255-267, Harbin, Heilongjiang, China. (EI)

Ø Jixue Mo, Changqing Gao, and Hao Fang. Design and characteristic analysis of a novel tensegrity hopping robot. Proceedings of the IEEE international conference on robotics and biomimetics (ROBIO 2023), December 4-9, 2023, Accepted, KohSamui, Thailand. (EI)

Ø Jixue Mo, Changqing Gao, Fei Liu, and Hao Fang. A modified artificial potential field method based on subgoal points for mobile robot. Proceedings of the 16th international conference on intelligent robotics and applications (ICIRA 2023), July 5-7, 2023, pp: Accepted, Hangzhou, Zhejiang, China. (EI)

Ø Fei Liu, Jinda Luo, Jixue Mo, Changqing Gao, Zhendong Song. Modeling and analysis of rigid-flexible coupling dynamics of a cable-driven manipulator. Journal of mechanical science and technology, Under review. (JCR: Q4, CAS: Q4, SCI, IF = 1.60)

Ø Xin Guo, Changqing Gao, Hailin Huang, Bing Li, Yingxue Yao, and Guanglu Jia, Design and analysis of an origami-inspired deployable grasping manipulator, Proceedings of the international conference of manufacturing technology engineers (ICMTE 2018), October 10-10, 2018, pp: 13-13, Seoul, South Korea.

中国发明专利

Ø 高长青, 杜敬利, 段学超, 崔传贞. 一种基于皮带传动的仿人型平面多关节机器人. 中国: 201610338940.0, 2016.05.20.

Ø 李兵, 高长青, 黄海林, 李国涛. 一种基于运动副变胞的模块化抓捕机械手. 中国: 201910106104.3, 2020.08.11.

Ø 李兵, 高长青, 黄海林. 一种轻量化可折展空间桁架式抓捕机械手. 中国: 201811316153.1, 2018.11.06.

Ø 李兵, 高长青, 黄海林, 杨晓钧, 李曜. 一种空间可展开抓捕机械手装置. 中国: 201911335652.X, 2019.12.20.

Ø 李兵, 高长青, 徐鹏, 张阳. 一种爬行机器人. 中国: 202210123633.6, 2022.02.10. (授权: 2023.02.21)

Ø 李兵, 高长青, 康熙, 徐鹏, 张阳. 一种空间大尺度可展开装置天线与抓取设备. 中国: 202210788268.0, 2022.07.06.

Ø 杜敬利, 高长青, 保宏, 杨东武, 张逸群, 张树新, 蒋翔俊. 一种基于索网结构的可展开锥形螺旋阵列天线. 中国: 201710090833.5, 2017.02.20.

Ø 闫杰, 杜敬利, 张岳震, 张逸群, 高长青. 一种索网天线柔性索网的裁索装置. 中国: 201610585460.4, 2016.07.22.

Ø 高长青, 李健晖, 王昕, 赵永杰, 吴佳俊, 杜敬利, 刘飞, 莫继学. 空间可展开抓取机械手装置. 中国: 202410210449.4, 2024.02.26.

Ø 高长青, 王瀚林, 王昕, 赵永杰, 吴佳俊, 杜敬利, 刘飞, 莫继学. 空间大尺度桁架式可展开抓捕装置. 中国: 202410210453.0, 2024.02.26.

Ø 李兵, 高长青, 康熙, 徐鹏, 张阳. 一种空间大尺度可展开多构态装置. 中国: 202210788507.2, 2022.07.06.

Ø 李兵, 高长青, 康熙, 徐鹏, 张阳. 一种基于任务时序的多级可展开减速伞装置. 中国: 202210788506.8, 2022.07.06.

Ø 李兵, 张阳, 高长青, 徐鹏. 单自由度平面二维可展开基本单元及大尺度可展开装置. 中国: 202310059168.9, 2023.02.04.

Ø 李兵, 张阳, 徐鹏, 高长青. 一种空间可展开单元以及大尺度可展开平台. 中国: 202211263082.X, 2022.10.15.

Ø 李兵, 张阳, 徐鹏, 高长青. 一种单自由度空间可展开抓取机械手以及抓捕设备. 中国: 202211284192.4, 2022.10.15.